Siemens Sinamics S120 Commissioning Manual page 131

CANopen object 0x6502
The CANopen object "0x6502 Supported drive modes" indicates which CANopen operating
modes can be selected in the corresponding drive units and in the existing commissioning
state via the object "0x6060", via SDO and/or via PDO access.
CANopen object 0x6060
By writing the CANopen object "0x6060 Modes of operation", the required operating mode
can be selected.
The object always displays the requested mode, even if this is not effective, because it is not
supported for example from the drive object.
Also writing via SDO is always successful, if a value is written within its data type.
If an operating mode cannot be selected, for example, because it is not supported, then the
old operating mode remains effective.
By reading the object "0x6061" the controller itself must check as to whether the requested
operating mode was able to be successfully selected, and is therefore effective.
Access via RPDO
The object can be mapped, and therefore transferred via PDO unconfirmed. Presently, for
SINAMICS, this process data access within the scope of the CAN sampling time only makes
sense for switching between speed and torque control; this is because only these operating
modes are supported by CANopen, and for SINAMICS, can presently be switched over in
operation.
All switchover operations of the known operating modes, lead to the SINAMICS parameter
channel that runs in the background.
If the object is mapped in an RPDO, then also an SDO access consistently acts on the
corresponding PZD interface parameters and no longer on p1300. The diagram below
should clearly illustrate this.
All switchover operations of other operating modes, lead to the SINAMICS parameter
channel that runs in the background. It does not make sense to create a PDO access for this
purpose. If the object is mapped in an RPDO, then also an SDO access consistently acts on
the corresponding PZD interface parameters and no longer on p1300. The diagram below
should clearly illustrate this.
CANopen interface
Commissioning Manual, 11/2017, 6SL3097-4AA00-0BP3
Operating modes
131